Implement native ESP-IDF radar firmware

main/radar_protocol.h

@@ -0,0 +1,86 @@
+#ifndef RADICK_RADAR_PROTOCOL_H
+#define RADICK_RADAR_PROTOCOL_H
+
+#include <stdbool.h>
+#include <stddef.h>
+#include <stdint.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* RD-03D V1 multi-target UART protocol constants. */
+#define RD03D_UART_BAUD_RATE       256000U
+#define RD03D_MAX_TARGETS          3U
+#define RD03D_TARGET_DATA_SIZE     8U
+#define RD03D_FRAME_HEADER_SIZE    4U
+#define RD03D_FRAME_TAIL_SIZE      2U
+#define RD03D_FRAME_SIZE           30U
+
+#define RD03D_CMD_ENABLE_SIZE      14U
+#define RD03D_CMD_MULTI_SIZE       12U
+#define RD03D_CMD_END_SIZE         12U
+
+extern const uint8_t rd03d_frame_header[RD03D_FRAME_HEADER_SIZE];
+extern const uint8_t rd03d_frame_tail[RD03D_FRAME_TAIL_SIZE];
+extern const uint8_t rd03d_cmd_enable[RD03D_CMD_ENABLE_SIZE];
+extern const uint8_t rd03d_cmd_multi[RD03D_CMD_MULTI_SIZE];
+extern const uint8_t rd03d_cmd_end[RD03D_CMD_END_SIZE];
+
+typedef struct {
+    int16_t x_mm;
+    int16_t y_mm;
+    int16_t speed_cm_s;
+    uint16_t resolution_mm;
+    bool valid;
+} rd03d_target_t;
+
+typedef struct {
+    rd03d_target_t targets[RD03D_MAX_TARGETS];
+} rd03d_frame_t;
+
+/*
+ * The parser owns no dynamic memory and is safe to place in static storage or
+ * on a task stack. Its fields are public so the same header works in ESP-IDF
+ * and small host-side tests without an allocator or opaque platform handle.
+ */
+typedef struct {
+    uint8_t buffer[RD03D_FRAME_SIZE];
+    size_t buffered;
+    size_t header_matched;
+    uint64_t bytes_received;
+    uint32_t frames_decoded;
+    uint32_t malformed_frames;
+} rd03d_parser_t;
+
+typedef void (*rd03d_frame_callback_t)(const rd03d_frame_t *frame, void *context);
+
+/* Decode the RD-03D's unusual sign/magnitude value (bit 15 means positive). */
+int16_t rd03d_decode_sign_magnitude(uint8_t low, uint8_t high);
+
+/* Decode one complete frame. Returns false unless both header and tail match. */
+bool rd03d_decode_frame(const uint8_t frame[RD03D_FRAME_SIZE], rd03d_frame_t *out);
+
+void rd03d_parser_init(rd03d_parser_t *parser);
+
+/*
+ * Feed one byte. A complete decoded frame is copied to out (when non-NULL),
+ * and true is returned. Noise and malformed frames are consumed internally.
+ */
+bool rd03d_parser_push(rd03d_parser_t *parser, uint8_t byte, rd03d_frame_t *out);
+
+/*
+ * Feed an arbitrary UART chunk. The callback is invoked once per frame when
+ * non-NULL; the return value always reports the number of decoded frames.
+ */
+size_t rd03d_parser_feed(rd03d_parser_t *parser,
+                         const uint8_t *data,
+                         size_t length,
+                         rd03d_frame_callback_t callback,
+                         void *context);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* RADICK_RADAR_PROTOCOL_H */